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Force and Trajectory Control of Industrial Robots in Stiff Contact

Lange, Friedrich and Bertleff, Wieland and Suppa, Michael (2013) Force and Trajectory Control of Industrial Robots in Stiff Contact. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2912-2919. IEEE Int. Conference on Robotics and Automation ICRA 2013, May 6-10, 2013, Karlsruhe, Germany.

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Abstract

Position-based force control is presented, incorporating compliance in the robot joints and possibly in a force- / torque-sensor and/or the environment. First, the total compliance is identified. Then, in the control phase, the desired pose of the tool center point is computed from the force control error. Thus standard position control may be applied. This leads to an inherently stable control scheme, even with a low sampling rate of the sensor interface and unknown environmental compliance. The method is designed for applications of industrial robots, e.g. assembly tasks. Parallel control considers the existence of a reference trajectory which allows feedforward in force controlled directions. The paper further examines couplings between forces and torques, which are important for partially constrained configurations. A possible impact force is considered when colliding with an unexpected object.

Item URL in elib:https://elib.dlr.de/113128/
Document Type:Conference or Workshop Item (Poster)
Title:Force and Trajectory Control of Industrial Robots in Stiff Contact
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, Friedrichfriedrich.lange (at) dlr.deUNSPECIFIED
Bertleff, WielandWieland.berleff (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 2912-2919
Status:Published
Keywords:Industrieroboter, Kraftregelung
Event Title:IEEE Int. Conference on Robotics and Automation ICRA 2013
Event Location:Karlsruhe, Germany
Event Type:international Conference
Event Dates:May 6-10, 2013
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:17 Jul 2017 17:17
Last Modified:31 Jul 2019 20:10

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